/* USER CODE BEGIN Header */
/**
 ******************************************************************************
 * File Name          : freertos.c
 * Description        : Code for freertos applications
 ******************************************************************************
 * @attention
 *
 * <h2><center>&copy; Copyright (c) 2021 STMicroelectronics.
 * All rights reserved.</center></h2>
 *
 * This software component is licensed by ST under Ultimate Liberty license
 * SLA0044, the "License"; You may not use this file except in compliance with
 * the License. You may obtain a copy of the License at:
 *                             www.st.com/SLA0044
 *
 ******************************************************************************
 */
/* USER CODE END Header */

/* Includes ------------------------------------------------------------------*/
#include "FreeRTOS.h"
#include "task.h"
#include "main.h"
#include "cmsis_os.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "user_task.h"
#include "user_queue.h"
#include "debug.h"
#include "usart.h"
#include "printf.h"
#include "ble.h"
#include "sbus.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN Variables */

/* USER CODE END Variables */
/* Definitions for defaultTask */
osThreadId_t defaultTaskHandle;
const osThreadAttr_t defaultTask_attributes = { .name = "defaultTask",
		.stack_size = 128 * 4, .priority = (osPriority_t) osPriorityNormal, };

/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN FunctionPrototypes */

/* USER CODE END FunctionPrototypes */

void
StartDefaultTask(void *argument);

void
MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */

/**
 * @brief  FreeRTOS initialization
 * @param  None
 * @retval None
 */
void MX_FREERTOS_Init(void)
{
	/* USER CODE BEGIN Init */

	/* USER CODE END Init */

	/* USER CODE BEGIN RTOS_MUTEX */
	/* add mutexes, ... */
	/* USER CODE END RTOS_MUTEX */

	/* USER CODE BEGIN RTOS_SEMAPHORES */
	/* add semaphores, ... */
	/* USER CODE END RTOS_SEMAPHORES */

	/* USER CODE BEGIN RTOS_TIMERS */
	/* start timers, add new ones, ... */
	/* USER CODE END RTOS_TIMERS */

	/* USER CODE BEGIN RTOS_QUEUES */
	/* add queues, ... */
	/* USER CODE END RTOS_QUEUES */

	/* Create the thread(s) */
	/* creation of defaultTask */
	defaultTaskHandle = osThreadNew(StartDefaultTask, NULL,
			&defaultTask_attributes);

	/* USER CODE BEGIN RTOS_THREADS */
	/* add threads, ... */
	/* USER CODE END RTOS_THREADS */

	/* USER CODE BEGIN RTOS_EVENTS */
	/* add events, ... */
	/* USER CODE END RTOS_EVENTS */

}

/* USER CODE BEGIN Header_StartDefaultTask */
/**
 * @brief  Function implementing the defaultTask thread.
 * @param  argument: Not used
 * @retval None
 */
/* USER CODE END Header_StartDefaultTask */
void StartDefaultTask(void *argument)
{
	/* USER CODE BEGIN StartDefaultTask */
	/* Infinite loop */
	for (;;) {
		__HAL_UART_ENABLE_IT(&huart2, UART_IT_IDLE);
		HAL_UART_Receive_DMA(&huart2, UsartType2.RX_pData, RX_LEN2);
		HAL_UART_Receive_IT(&huart3, UsartType3.RX_pData, RX_LEN3);

		Task0Handle = osThreadNew(StartTask0, NULL, &Task0_attributes);
		Task1Handle = osThreadNew(StartTask1, NULL, &Task1_attributes);
		/* creation of myQueue01 */
		myQueue01Handle = osMessageQueueNew(128, sizeof(USART3_RECEIVETYPE),
				&myQueue01_attributes);
		/* creation of myQueue02 */
		myQueue02Handle = osMessageQueueNew(16, sizeof(USART2_RECEIVETYPE),
				&myQueue02_attributes);

		debug_printf("start\r\n");
		osThreadExit();
	}
	/* USER CODE END StartDefaultTask */
}

/* Private application code --------------------------------------------------*/
/* USER CODE BEGIN Application */

/* USER CODE END Application */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
